python scripts/rsl_rl/play_keyboard.py \
    --task=LeggedLab-Isaac-Velocity-Rough-LW-leg-v0 \
    --num_envs=1 \
    --keyboard \
    --real-time \
    # --checkpoint=/home/young/liufengrong/legged_lab_v2/logs/rsl_rl/LW_leg_rough/2025-10-20_16-38-31/model_49999.pt
    # --video \
    # --video_length=4000 
